At some point in the past, I came across a blog by someone who created a polargraph using two Lego Mindstorms controllers and their hardware. It used Bluetooth to send control signals from the computer (I think it was an Apple I-pad) to the Mindstorm controllers. But, it was several years old, and they gave no information about the software.

It would seem to me, that the standard Mindstorms kit is sufficient to create a polargraph. It comes with two larger stepper motors, and one smaller stepper motor.

The one missing element that I don't have the skills to put together, is the programming to take a vector drawing, and convert it into signals sent via Bluetooth. I don't have any Apple products, so I would need to use either a Windows program, or one for an Android phone.

I found plenty on the internet about using Lego based drawbots that use an articulating arm. But, there were no programs for a polargraph type of drawbot.

Do any of you have leads to an existing program that I can use with the Lego Mindstorms.

-Joe